Delphi-OpenCV/samples/MultiDemo/Stereo/Stereo.dpr

{$APPTYPE CONSOLE}
// JCL_DEBUG_EXPERT_GENERATEJDBG OFF
// JCL_DEBUG_EXPERT_INSERTJDBG OFF
// JCL_DEBUG_EXPERT_DELETEMAPFILE OFF
program Stereo;

{$R *.res}

uses
  System.SysUtils,
  uLibName in '..\..\..\include\uLibName.pas',
  highgui_c in '..\..\..\include\highgui\highgui_c.pas',
  core_c in '..\..\..\include\<5C>ore\core_c.pas',
  Core.types_c in '..\..\..\include\<5C>ore\Core.types_c.pas',
  imgproc.types_c in '..\..\..\include\imgproc\imgproc.types_c.pas',
  imgproc_c in '..\..\..\include\imgproc\imgproc_c.pas',
  legacy in '..\..\..\include\legacy\legacy.pas',
  calib3d in '..\..\..\include\calib3d\calib3d.pas',
  types_c in '..\..\..\include\<5C>ore\types_c.pas';

Const
  Image_Left = 'StereoSample\Aloe\view0.png';
  Image_Right = 'StereoSample\Aloe\view1.png';
  // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
  ndisparity = 16;
  // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
  mIter = 2;

Type
  TDoubleArray = array [0 .. 15] of Double;
  pDoubleArray = ^TDoubleArray;

Var
  image_: pIplImage = nil;
  image1_: pIplImage = nil;
  image_g: pIplImage = nil;
  image1_g: pIplImage = nil;
  disparity_left: pCvMat;
  disparity_right: pCvMat;
  size: TCvSize;
  state: pCvStereoGCState;
  disparity_left_visual: pCvMat;
  Q: pCvMat;
  _3dImage: pIplImage;

begin
  try
    // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
    image_ := cvLoadImage(Image_Left, 1);
    image1_ := cvLoadImage(Image_Right, 1);
    // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
    image_g := cvCreateImage(cvSize(image_^.width, image_^.height), 8, 1);
    image1_g := cvCreateImage(cvSize(image_^.width, image_^.height), 8, 1);
    size := cvGetSize(image_);
    // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
    disparity_left := cvCreateMat(size.height, size.width, CV_16S);
    disparity_right := cvCreateMat(size.height, size.width, CV_16S);
    // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
    cvCvtColor(image_, image_g, CV_BGR2GRAY);
    cvCvtColor(image1_, image1_g, CV_BGR2GRAY);
    // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
    //
    state := cvCreateStereoGCState(ndisparity, mIter);
    // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 3d
    cvFindStereoCorrespondenceGC(image_g, image1_g, disparity_left, disparity_right, state, 0);
    cvReleaseStereoGCState(state);
    // <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD>
    disparity_left_visual := cvCreateMat(size.height, size.width, CV_8U);
    cvConvertScale(disparity_left, disparity_left_visual, -16);
    cvSave('result\disparity.png', disparity_left_visual);
    cvSaveImage('result\disparity.jpg', disparity_left_visual);

    Q := cvCreateMat(4, 4, CV_64F);
    pDoubleArray(Q^.data)[0] := 1;
    pDoubleArray(Q^.data)[1] := 0;
    pDoubleArray(Q^.data)[2] := 0;
    pDoubleArray(Q^.data)[3] := -327.73883438110352;

    pDoubleArray(Q^.data)[4] := 0;
    pDoubleArray(Q^.data)[5] := 1;
    pDoubleArray(Q^.data)[6] := 0;
    pDoubleArray(Q^.data)[7] := -239.84486865997314;

    pDoubleArray(Q^.data)[8] := 0;
    pDoubleArray(Q^.data)[9] := 0;
    pDoubleArray(Q^.data)[10] := 0;
    pDoubleArray(Q^.data)[11] := 524.04542174159019;

    pDoubleArray(Q^.data)[12] := 0;
    pDoubleArray(Q^.data)[13] := 0;
    pDoubleArray(Q^.data)[14] := -0.30009508961926923;
    pDoubleArray(Q^.data)[15] := 1.2438668093184739;

    _3dImage := cvCreateImage(size, IPL_DEPTH_32F, 3);
    cvReprojectImageTo3D(disparity_left_visual, _3dImage, Q);
    cvSave('result\disparity1.png', _3dImage);
    cvSaveImage('result\disparity1.jpg', _3dImage);
  except
    on E: Exception do
      Writeln(E.ClassName, ': ', E.Message);
  end;

end.